Design and implementation of DSP and FPGA-based robust visual servoing control of an inverted pendulum

Yi Wei Tu, Ming-Tzu Ho

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper presents the design and implementation of robust real-time visual servoing control with an FPGA-based image co-processor for a rotary inverted pendulum. The position of the pendulum is measured with a machine vision system whose image processing algorithms are pipelined and implemented on a field programmable gate array (FPGA) device to meet real-time constraints. To enforce robustness to model uncertainty, and to attenuate disturbance and sensor noise, the design of the stabilizing controller is formulated as a problem of the mixed H2/H∞ control, which is then solved using the linear matrix inequality (LMI) approach. The designed control law is implemented on a digital signal processor (DSP). The effectiveness of the controller and the FPGA-based image co-processor is verified through experimental studies. The experimental results show that the designed system is able to robustly control an inverted pendulum in real-time.

Original languageEnglish
Title of host publication2010 IEEE International Conference on Control Applications, CCA 2010
Pages83-88
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event2010 IEEE International Conference on Control Applications, CCA 2010 - Yokohama, Japan
Duration: 2010 Sep 82010 Sep 10

Publication series

NameProceedings of the IEEE International Conference on Control Applications

Other

Other2010 IEEE International Conference on Control Applications, CCA 2010
CountryJapan
CityYokohama
Period10-09-0810-09-10

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Mathematics(all)

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